Enviaments recents

  • A shifting pole placement approach for the design of performance-varying multivariable PID controllers via BMIs 

    Sánchez, Helem Sabina; Rotondo, Damiano; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (2018)
    Text en actes de congrés
    Accés obert
    In this paper, the design of a performance-varying multivariable Proportional-Integral-Derivative (PID) controllers is presented. The main objective is to provide a framework for changing online the closed-loop behavior ...
  • Robust invariant sets and active mode detection for discrete-time uncertain descriptor systems 

    Wang, Ye; Olaru, Sorin; Valmorbida, Giorgio; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Text en actes de congrés
    Accés obert
    In this paper, the computation of robust invariant sets for discrete-time uncertain descriptor systems is investigated. The studied descriptor systems are assumed to be regular and stable subject to unknown but bounded ...
  • Aerial robotics in building inspection and maintenance 

    Grau Saldes, Antoni; Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Puig-Pey Clavería, Ana María; Sanfeliu Cortés, Alberto (Technische Universität München, 2018)
    Comunicació de congrés
    Accés obert
    Buildings need periodic revision about their state, materials degrade with time and repairs or renewals have to be made driven by maintenance needs or safety requirements. That happens with any kind of buildings and ...
  • Adaptable multimodal interaction framework for robot-assisted cognitive training 

    Taranovic, Aleksandar; Jevtic, Aleksandar; Torras, Carme (2018)
    Text en actes de congrés
    Accés obert
    The size of the population with cognitive impairment is increasing worldwide, and socially assistive robotics offers a solution to the growing demand for professional carers. Adaptation to users generates more natural, ...
  • Mathematical modeling, numerical simulation and experimental comparison of the desorption process in a metal hydride hydrogen storage system 

    Busqué Somacarrera, Raquel; Torres Cámara, Ricardo; Grau Barceló, Joan; Roda Serrat, Vicente; Husar, Attila Peter (2018-01-01)
    Comunicació de congrés
    Accés obert
  • Conceptual quality modelling and integrated control of combined urban drainage system 

    Sun, Congcong; Joseph Duran, Bernat; Maruejouls, Thibaud; Cembrano Gennari, Gabriela; Muñoz, eduard; Messeguer Amela, Jordi; Sampe, Sara; Puig Cayuela, Vicenç; Litrico, Xavier (2017)
    Text en actes de congrés
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    This paper presents the first results of conceptual quality modelling approach oriented to the integrated real-time control (RTC) strategy for urban drainage networks (UDN) and wastewater treatment plants (WWTP) developed ...
  • On-line adaptive side-by-side human robot companion in dynamic urban environments 

    Repiso Polo, Ely; Ferrer Mínguez, Gonzalo; Sanfeliu Cortés, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Text en actes de congrés
    Accés obert
    This paper presents an adaptive side-by-side human-robot companion approach for navigation in urban dynamic environments, based on the anticipative kinodynamic planning. The adaptive means that the robot is capable of ...
  • Randomized kinodynamic planning for cable-suspended parallel robots 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Springer, 2017)
    Text en actes de congrés
    Accés obert
    This paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and ...
  • Peak shaving through closed-loop optimization applied to machine tools with periodic behaviour 

    Ubach Pallàs, Sergi Xavier; Diaz Castañeda, Jenny Lorena; Ocampo-Martínez, Carlos; Antunez, Miguel (Institute of Electrical and Electronics Engineers (IEEE), 2017)
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    Accés obert
    This paper deals with machine tools characterized by a periodic behaviour and high-power peaks that require an oversized electrical network and cause high costs because electrical utilities charge greatly each power peak.To ...
  • Multi-modal joint embedding for fashion product retrieval 

    Rubio Romano, Antonio; Yu, Longlong; Simo Serra, Edgar; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Text en actes de congrés
    Accés obert
    Finding a product in the fashion world can be a daunting task. Everyday, e-commerce sites are updating with thousands of images and their associated metadata (textual information), deepening the problem, akin to finding a ...
  • Demonstration-free contextualized probabilistic movement primitives, further enhanced with obstacle avoidance 

    Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Text en actes de congrés
    Accés obert
    Movement Primitives (MPs) have been widely used over the last years for learning robot motion tasks with direct Policy Search (PS) reinforcement learning. Among them, Probabilistic Movement Primitives (ProMPs) are a kind ...
  • Factor descent optimization for sparsification in graph SLAM 

    Vallvé Navarro, Joan; Solà Ortega, Joan; Andrade-Cetto, Juan (IEEE Press, 2017)
    Text en actes de congrés
    Accés obert
    In the context of graph-based simultaneous localization and mapping, node pruning consists in removing a subset of nodes from the graph, while keeping the graph’s information content as close as possible to the original. ...

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